task_tagpose3dof.h

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/**
    @file
    @author Jan Michalczyk
    @copyright 2014-2017 INRIA. Licensed under the Apache License, Version 2.0.
    (see @ref LICENSE or http://www.apache.org/licenses/LICENSE-2.0)

    @brief
*/

#pragma once

namespace humoto
{
    namespace pepper_ik
    {
        /**
         * @brief Tag pose with 3dofs (around x axis, around y axis, along z axis)
         *        This task is used when moving the base using visual servoing
         *
         */
        template <int t_features>
            class HUMOTO_LOCAL TaskTagPose3Dof : public humoto::TaskAB
        {
            protected:
                double           k_pose_gain_;
                std::string      tag_string_id_;

                rbdl::TagLinkPtr tag_;


            protected:
                #define HUMOTO_CONFIG_ENTRIES \
                    HUMOTO_CONFIG_PARENT_CLASS(TaskAB) \
                    HUMOTO_CONFIG_SCALAR_(k_pose_gain) \
                    HUMOTO_CONFIG_SCALAR_(tag_string_id)
                #include HUMOTO_CONFIG_DEFINE_ACCESSORS


                virtual void setDefaults()
                {
                    TaskAB::setDefaults();
                    k_pose_gain_ = 0.0;
                }


                /**
                 * @brief Log task.
                 *
                 * @param[in] logger logger
                 * @param[in] parent parent
                 * @param[in] name name
                 */
                virtual void logTask(humoto::Logger &logger HUMOTO_GLOBAL_LOGGER_IF_DEFINED,
                                     const LogEntryName &parent = LogEntryName(),
                                     const std::string &name = "task") const
                {
                    LogEntryName subname = parent; subname.add(name);
                    TaskAB::logTask(logger, subname, "");
                    logger.log(LogEntryName(subname).add("k_pose_gain"),   k_pose_gain_);
                    logger.log(LogEntryName(subname).add("tag_string_id"), tag_string_id_);
                }


            public:
                TaskTagPose3Dof(const std::string& tag_string_id = "",
                                const double       gain          = 1.0,
                                const double       k_pose_gain   = 1.0)
                    : TaskAB(std::string("TaskTagPose3Dof_") + tag_string_id, gain)
                {
                    k_pose_gain_   = k_pose_gain;
                    tag_string_id_ = tag_string_id;
                }


                /// @copydoc humoto::TaskBase::form
                void form(const humoto::SolutionStructure &sol_structure,
                          const humoto::Model             &model_base,
                          const humoto::ControlProblem    &control_problem)
                {
                    const Model<t_features>& model =
                        dynamic_cast <const Model<t_features>& >(model_base);

                    const WholeBodyController<t_features>& wb_controller =
                        dynamic_cast <const WholeBodyController<t_features>& >(control_problem);

                    if(!tag_)
                    {
                        tag_ = model.getLinkTag(tag_string_id_);
                    }

                    Eigen::MatrixXd &A = getA();
                    Eigen::VectorXd &b = getB();

                    model.getTagCompleteJacobian(A, tag_);

                    b.noalias() = k_pose_gain_ * wb_controller.getTagPoseErrorInGlobal(model, tag_string_id_);
                    b.segment(2, 3) *= 0.0;

                    if(!isApproximatelyEqual(1.0, getGain()))
                    {
                        A*=getGain();
                        b*=getGain();
                    }
                }
        };
    }//pepper
}//humoto